Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 209 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 20 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 209 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2825 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 1740 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 86400 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 500 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 180

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 1740

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1850 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2825 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 209 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 180220,043532,7530.4951,-14414.4961,0,4255.0,0,23.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.160,0.233

_CALLS 0 TGT_NAME 9_51

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS -20000.000

_SM_DEPTHo 11.49 MHEAD_RNG_PITCHd_Wd 260.1,2260,-21.9,-9.259,-23.87,1284

_SM_ANGLEo -7.7 D_GRID 500

GPS2 180220,043532,7530.4951,-14414.4961,0,4255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200219083532.887959,06,9502,39,0102,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.2,0.49,-100,2.51,-01,0.20,72,925,0025*38 SC_FREEKB 3754368

FREEZE 9.24,-1.519,-1.525,2,113,0 _24V_AH 12.55,108.879

FINISH1 9.2,1.022377,262 _10V_AH 11.45,0.000

FINISH2 8.6 FG_AHR_24Vo 0.000

RAFOS_CLK 331 FG_AHR_10Vo 0.000

MODEM 6,1582029333,75.33060,-142.67570,33.231,48322.7 MEM 334876

RAFOS_FIX 7531.029297,-14415.603516,190220,080832,3,255,0.01 DATA_FILE_SIZE 46636,1340

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 226290,0

TT8_MAMPS 0.038948,0.28462 CFSIZE 1047117824,1015136256

HUMID 52.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.84871 SOUNDSPEED 1454.4

TCM_TEMP 13.30 GPS 190220,083532,7531.029,-14415.604,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 119

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 242 15.29 nil 0 0 0.00

Roll_motor 60 126 96.34 nil 0 0 0.00

VBD_pump_during_apogee 609 1803 13798.01 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10754 9 1258.93

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 156.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93249 2 2466.40

TT8_Active 844 9 90.12

TT8_Sampling 2838 27 887.36

TT8_CF8 259 37 112.44

TT8_Kalman 0 0 0.00

Analog_circuits 1937 10 241.83

GPS_charging 0 0 0.00

Compass 1958 6 151.17

RAFOS 13206 33 4989.89

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.83 -77.3 2829 1933 1735 1789 0.0 0.0 0 51 0.00 0.00 -37.75 0.005 16390 0.000 0.000 2828 1929 3143 3244 3042 0 0 0 0 0 0 14.32 13.14 14.35

53 -0.83 -77.3 2829 1933 3244 3042 14.6 -6.6 4 58 1.30 2.67 0.00 0.000 4612 0.149 0.118 2450 538 3143 3243 3043 0 0 0 0 0 0 13.93 13.93 14.04

174 -0.83 -77.3 2451 538 3244 3043 42.8 -27.3 28 179 0.00 2.42 0.00 0.000 1030 0.000 0.089 2450 1860 3143 3244 3043 0 0 0 0 0 0 14.20 14.09 14.24

563 -0.83 -77.3 2451 1859 3245 3044 114.0 -15.2 46 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1858 3143 3243 3043 0 0 0 0 0 0 14.50 14.52 14.52

923 -0.83 -77.3 2450 1857 3244 3043 164.1 -13.3 58 929 0.00 2.50 0.00 0.000 516 0.000 0.114 2450 533 3143 3244 3043 0 0 0 0 0 0 14.52 14.03 14.54

958 -0.83 -77.3 2450 534 3245 3043 169.0 -13.8 65 964 0.00 2.45 0.00 0.000 1030 0.000 0.088 2449 1852 3143 3244 3043 0 0 0 0 0 0 14.14 14.07 14.21

1344 -0.83 -77.3 2450 1853 3244 3044 217.2 -12.4 82 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1852 3142 3243 3042 0 0 0 0 0 0 14.53 14.56 14.55

1704 -0.83 -77.3 2451 1853 3244 3043 257.3 -10.5 94 1710 0.00 2.47 0.00 0.000 516 0.000 0.115 2450 537 3142 3244 3041 0 0 0 0 0 0 14.66 14.07 14.69

1744 -0.83 -77.3 2450 538 3244 3043 261.7 -10.9 102 1751 0.00 2.45 0.00 0.000 1030 0.000 0.089 2450 1856 3143 3244 3042 0 0 0 0 0 0 14.20 14.12 14.26

2125 -0.83 -77.3 2450 1857 3244 3043 296.1 -8.4 118 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1856 3143 3243 3043 0 0 0 0 0 0 14.62 14.64 14.64

2485 -0.83 -77.3 2451 1857 3245 3042 325.8 -8.1 130 2487 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1857 3143 3244 3042 0 0 0 0 0 0 14.75 14.78 14.80

2845 -0.83 -77.3 2450 1857 3244 3043 354.1 -7.8 142 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1857 3142 3243 3042 0 0 0 0 0 0 14.76 14.80 14.79

3206 -0.83 -77.3 2453 1857 3243 3043 381.0 -7.4 154 3212 0.00 2.60 0.00 0.000 260 0.000 0.106 2450 3262 3143 3244 3042 0 0 0 0 0 0 14.65 14.12 14.68

3266 -0.83 -77.3 2450 3263 3244 3042 385.6 -7.6 166 3273 0.00 2.38 0.00 0.000 1030 0.000 0.076 2450 1937 3142 3244 3041 0 0 0 0 0 0 14.35 14.18 14.40

3657 -0.83 -77.3 2451 1939 3245 3042 414.3 -7.3 184 3659 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1937 3141 3242 3040 0 0 0 0 0 0 14.65 14.68 14.67

4017 -0.86 -97.3 2451 1939 3244 3043 440.4 -7.2 196 4019 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 1937 3143 3244 3042 0 0 0 0 0 0 14.79 14.82 14.81

4377 -0.86 -97.3 2450 1938 3244 3042 466.0 -7.1 208 4379 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 1937 3142 3244 3040 0 0 0 0 0 0 14.66 14.69 14.69

4737 -0.86 -97.3 2450 1938 3244 3041 491.4 -7.1 220 4743 0.00 2.47 0.00 0.000 292 0.000 0.101 2450 3269 3142 3244 3041 0 0 0 0 0 0 14.66 14.09 14.68

4797 -0.86 -97.3 2451 3270 3245 3042 495.8 -7.2 232 4803 0.00 2.40 0.00 0.000 1062 0.000 0.073 2451 1933 3142 3243 3042 0 0 0 0 0 0 14.35 14.19 14.40

4856 end dive: TARGET_DEPTH_EXCEEDED

state 4856 begin apogee

4860 -0.17 0.0 2451 2040 3244 3042 500.0 -7.0 239 4940 0.82 0.00 77.12 1.803 10246 0.243 0.000 2655 2039 2825 2952 2698 0 0 0 0 0 0 13.90 14.02 13.08

4941 end apogee: CONTROL_FINISHED_OK

state 4941 begin loiter

5277 -0.17 0.0 2655 2040 2947 2695 501.4 0.3 244 5279 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2820 2946 2694 0 0 0 0 0 0 14.53 14.57 14.56

5877 -0.17 0.0 2654 2040 2945 2693 497.1 0.8 249 5879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2818 2944 2692 0 0 0 0 0 0 14.69 14.72 14.72

6477 -0.17 0.0 2654 2040 2945 2692 492.4 0.8 254 6478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2944 2691 0 0 0 0 0 0 14.91 14.94 14.93

7077 -0.17 0.0 2656 2040 2945 2692 487.8 0.8 259 7079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2818 2944 2692 0 0 0 0 0 0 14.76 14.79 14.78

7677 -0.17 0.0 2655 2040 2945 2692 482.9 0.8 264 7678 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2817 2943 2691 0 0 0 0 0 0 14.78 14.81 14.80

8277 -0.17 0.0 2655 2040 2945 2692 477.8 0.9 269 8279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2944 2691 0 0 0 0 0 0 15.00 15.02 15.02

8877 -0.17 0.0 2654 2040 2944 2692 472.7 0.9 274 8878 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2944 2691 0 0 0 0 0 0 15.01 15.04 15.03

9477 -0.17 0.0 2653 2040 2944 2692 468.4 0.7 279 9479 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2817 2943 2691 0 0 0 0 0 0 14.82 14.85 14.85

10077 -0.17 0.0 2654 2040 2944 2691 465.1 0.5 284 10078 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2943 2691 0 0 0 0 0 0 14.80 14.83 14.83

10677 -0.17 0.0 2655 2040 2945 2692 462.5 0.4 289 10679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2943 2691 0 0 0 0 0 0 14.80 14.83 14.83

11277 -0.17 0.0 2654 2040 2944 2691 460.2 0.4 294 11278 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2943 2691 0 0 0 0 0 0 14.81 14.83 14.83

11877 -0.17 0.0 2654 2039 2944 2691 458.0 0.4 299 11879 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2817 2943 2691 0 0 0 0 0 0 14.80 14.83 14.83

12477 -0.17 0.0 2654 2040 2944 2691 455.3 0.5 304 12478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2943 2691 0 0 0 0 0 0 14.80 14.83 14.83

13077 -0.17 0.0 2654 2040 2944 2691 452.0 0.5 309 13079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.80 14.83 14.83

13677 -0.17 0.0 2654 2040 2944 2691 449.3 0.4 314 13679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.79 14.83 14.82

14277 -0.17 0.0 2654 2040 2944 2691 447.4 0.3 319 14279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.67 14.70 14.70

14877 -0.17 0.0 2655 2040 2945 2691 447.6 -0.1 324 14879 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2689 0 0 0 0 0 0 14.62 14.65 14.64

15477 -0.17 0.0 2655 2040 2945 2691 448.5 -0.2 329 15479 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.58 14.61 14.61

16079 -0.17 0.0 2655 2040 2944 2691 448.5 0.0 334 16081 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.61 14.64 14.64

16677 -0.17 0.0 2655 2040 2944 2691 447.9 0.1 339 16679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.91 14.95 14.95

17277 -0.17 0.0 2654 2040 2944 2691 447.5 0.1 344 17278 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.96 15.00 14.99

17877 -0.17 0.0 2655 2040 2944 2691 446.7 0.1 349 17879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2817 2944 2690 0 0 0 0 0 0 14.73 14.76 14.76

18477 -0.17 0.0 2655 2040 2944 2691 445.8 0.2 354 18478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.74 14.78 14.77

19077 -0.17 0.0 2654 2040 2944 2691 445.6 0.0 359 19079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.02 15.04 15.04

19677 -0.17 0.0 2655 2040 2944 2691 446.1 -0.1 364 19678 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.76 14.79 14.78

20277 -0.17 0.0 2655 2040 2944 2691 447.1 -0.2 369 20279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.76 14.79 14.79

20877 -0.17 0.0 2655 2040 2944 2691 448.0 -0.2 374 20879 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.78 14.81 14.81

21477 -0.17 0.0 2655 2040 2944 2691 448.1 -0.0 379 21479 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.80 14.80

22077 -0.17 0.0 2654 2040 2944 2691 447.9 0.0 384 22078 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.80 14.80

22677 -0.17 0.0 2654 2040 2944 2691 447.9 0.0 389 22679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.04 15.08 15.07

23277 -0.17 0.0 2655 2040 2944 2691 447.8 0.0 394 23279 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.80 14.80

23877 -0.17 0.0 2655 2040 2944 2691 448.1 -0.1 399 23879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.81 14.80

24477 -0.17 0.0 2655 2040 2944 2691 448.3 -0.0 404 24479 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.80 14.79

25077 -0.17 0.0 2654 2040 2944 2691 448.1 0.0 409 25079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.77 14.81 14.80

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27477 -0.17 0.0 2655 2040 2944 2691 448.8 -0.1 429 27479 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.76 14.79 14.79

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29277 -0.17 0.0 2655 2040 2943 2690 449.7 0.0 444 29278 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.58 14.61 14.60

29877 -0.17 0.0 2655 2039 2944 2691 449.6 0.0 449 29879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.54 14.57 14.57

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31077 -0.17 0.0 2655 2040 2944 2690 449.1 0.0 459 31079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.91 14.95 14.94

31677 -0.17 0.0 2654 2040 2944 2690 449.0 0.0 464 31678 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.96 14.99 14.99

32277 -0.17 0.0 2654 2040 2944 2690 448.9 0.0 469 32279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 14.99 15.02 15.02

32877 -0.17 0.0 2655 2040 2944 2691 449.0 -0.0 474 32879 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 15.01 15.04 15.04

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47277 -0.17 0.0 2653 2040 2943 2690 447.1 0.0 594 47279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.00 15.04 15.04

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53877 -0.17 0.0 2655 2040 2944 2690 449.3 0.0 649 53879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.77 14.80 14.80

54477 -0.17 0.0 2654 2040 2944 2690 449.2 0.0 654 54478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.73 14.77 14.76

55077 -0.17 0.0 2655 2040 2944 2690 449.2 0.0 659 55079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.06 15.09 15.09

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57477 -0.17 0.0 2655 2040 2945 2690 449.6 -0.0 679 57479 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.60 14.63 14.63

58077 -0.17 0.0 2655 2040 2943 2690 449.4 0.0 684 58078 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2820 2952 2689 0 0 0 0 0 0 14.55 14.58 14.57

58677 -0.17 0.0 2655 2040 2944 2690 449.1 0.0 689 58679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.52 14.54 14.54

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59877 -0.17 0.0 2654 2040 2943 2690 448.1 0.1 699 59879 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2815 2941 2690 0 0 0 0 0 0 14.61 14.64 14.64

60477 -0.17 0.0 2655 2040 2945 2690 447.9 0.0 704 60478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.96 15.00 14.99

61077 -0.17 0.0 2654 2040 2943 2690 447.9 -0.0 709 61079 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.99 15.02 15.02

61677 -0.17 0.0 2654 2040 2943 2690 448.0 -0.0 714 61679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 15.01 15.04 15.03

62277 -0.17 0.0 2655 2040 2944 2690 447.7 0.1 719 62279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.02 15.05 15.04

62877 -0.17 0.0 2655 2040 2944 2690 447.3 0.1 724 62878 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.71 14.74 14.73

63477 -0.17 0.0 2654 2040 2943 2690 446.8 0.1 729 63479 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2040 2816 2943 2689 0 0 0 0 0 0 14.71 14.75 14.74

64077 -0.17 0.0 2654 2040 2943 2690 446.7 0.0 734 64078 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2815 2942 2688 0 0 0 0 0 0 15.04 15.07 15.07

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65277 -0.17 0.0 2655 2040 2944 2690 447.4 -0.1 744 65279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 15.05 15.08 15.08

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67077 -0.17 0.0 2655 2040 2944 2690 449.6 -0.1 759 67079 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2689 0 0 0 0 0 0 15.05 15.09 15.08

67677 -0.17 0.0 2655 2040 2943 2690 449.4 0.1 764 67679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 15.06 15.09 15.08

68277 -0.17 0.0 2655 2040 2944 2690 448.9 0.1 769 68279 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.73 14.76 14.75

68877 -0.17 0.0 2654 2040 2943 2690 449.0 -0.0 774 68879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 15.06 15.09 15.09

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70077 -0.17 0.0 2655 2040 2944 2690 449.0 0.0 784 70079 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2039 2816 2943 2690 0 0 0 0 0 0 14.72 14.76 14.76

70677 -0.17 0.0 2655 2040 2944 2690 448.6 0.1 789 70679 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 15.06 15.09 15.09

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89877 -0.17 0.0 2654 2040 2943 2690 448.7 -0.1 949 89879 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2689 0 0 0 0 0 0 14.98 15.02 15.01

90477 -0.17 0.0 2655 2040 2945 2690 449.3 -0.1 954 90478 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.00 15.04 15.03

91077 -0.17 0.0 2654 2040 2943 2690 449.5 -0.0 959 91079 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2039 2816 2943 2690 0 0 0 0 0 0 15.02 15.04 15.04

91315 end loiter: LOITER_COMPLETE

state 91315 begin climb

91317 0.86 97.3 2655 2040 2944 2690 449.5 0.0 961 91423 1.12 2.55 98.40 1.705 10756 0.140 0.114 2984 715 2425 2553 2298 0 0 0 0 0 0 13.83 13.75 13.02

91583 0.86 97.3 2984 716 2543 2293 430.3 9.6 1013 91588 0.00 2.45 0.00 0.000 1030 0.000 0.088 2984 2039 2417 2542 2292 0 0 0 0 0 0 14.16 14.00 14.22

91953 0.86 97.3 2984 2040 2541 2290 395.1 9.5 1027 91955 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2039 2415 2541 2289 0 0 0 0 0 0 14.54 14.58 14.57

92313 0.86 97.3 2984 2036 2541 2290 361.4 9.3 1039 92319 0.00 2.65 0.00 0.000 260 0.000 0.105 2984 3455 2414 2540 2289 0 0 0 0 0 0 14.58 14.07 14.61

92393 0.86 97.3 2984 3455 2540 2289 353.2 10.2 1055 92399 0.00 2.40 0.00 0.000 1030 0.000 0.070 2984 2116 2414 2540 2289 0 0 0 0 0 0 14.30 14.15 14.37

92763 0.86 97.3 2984 2116 2538 2289 320.2 8.8 1069 92765 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2116 2413 2539 2288 0 0 0 0 0 0 14.75 14.78 14.78

93123 0.88 97.3 2984 2116 2539 2288 290.3 8.0 1081 93129 0.00 2.50 0.00 0.000 324 0.000 0.103 2984 3445 2413 2539 2288 0 0 0 0 0 0 14.62 14.07 14.64

93193 0.88 97.3 2984 3447 2540 2289 284.2 8.8 1095 93199 0.00 2.40 0.00 0.000 1030 0.000 0.075 2984 2112 2413 2538 2288 0 0 0 0 0 0 14.31 14.15 14.38

93573 0.93 134.8 2984 2112 2539 2289 258.3 6.3 1111 93609 0.00 0.00 34.15 1.496 8230 0.000 0.000 2984 2112 2276 2401 2151 0 0 0 0 0 0 14.62 14.31 13.43

93963 0.98 169.4 2984 2112 2390 2148 231.4 6.5 1124 94001 0.15 2.62 31.35 1.454 10788 0.125 0.114 3046 711 2135 2247 2023 0 0 0 0 0 0 14.26 14.03 13.36

94046 0.98 169.4 3046 710 2238 2026 224.3 9.4 1140 94051 0.00 2.42 0.00 0.000 1030 0.000 0.090 3046 2032 2130 2237 2023 0 0 0 0 0 0 14.26 14.10 14.31

94416 0.99 169.4 3047 2034 2233 2022 192.4 8.5 1154 94418 0.00 0.00 0.00 0.000 70 0.000 0.000 3046 2033 2126 2232 2021 0 0 0 0 0 0 14.55 14.58 14.58

94776 1.03 169.4 3046 2033 2231 2020 164.0 7.4 1166 94782 0.00 2.65 0.00 0.000 324 0.000 0.107 3044 3452 2124 2230 2019 0 0 0 0 0 0 14.59 14.11 14.62

94837 1.05 169.4 3046 3453 2231 2021 159.0 8.4 1178 94843 0.00 2.40 0.00 0.000 1094 0.000 0.076 3046 2117 2124 2230 2019 0 0 0 0 0 0 14.33 14.18 14.40

95228 1.09 205.5 3046 2118 2229 2019 131.8 6.4 1196 95271 0.00 0.00 42.12 1.334 8230 0.000 0.000 3046 2117 1988 2088 1888 0 0 0 0 0 0 14.76 14.26 13.48

95618 1.13 234.9 3046 2118 2081 1885 104.3 6.9 1209 95664 0.00 2.70 38.62 1.289 8740 0.000 0.119 3046 712 1865 1956 1774 0 0 0 0 0 0 14.65 14.14 13.40

95720 1.16 234.9 3047 711 1952 1774 96.9 7.7 1229 95725 0.15 2.42 0.00 0.000 3142 0.130 0.089 3102 2035 1863 1952 1774 0 0 0 0 0 0 14.17 14.08 14.27

96100 1.20 264.8 3102 2036 1950 1770 67.3 6.9 1245 96152 0.00 0.00 50.70 1.235 8230 0.000 0.000 3100 2035 1745 1828 1663 0 0 0 0 0 0 14.64 14.14 13.39

96490 1.29 334.9 3102 2036 1819 1664 47.9 3.7 1258 96631 0.00 2.58 134.52 1.192 8740 0.000 0.116 3102 708 1458 1515 1401 0 0 0 0 0 0 14.61 13.83 13.18

96662 1.37 391.3 3102 709 1514 1400 41.6 4.7 1287 96770 0.17 2.47 102.75 1.142 11302 0.118 0.086 3170 2040 1228 1259 1198 0 0 0 0 0 0 13.93 13.86 13.05

97074 end climb: FINISH_DEPTH_REACHED

state 97074 begin subsurface finish

97079 0.34 262.0 3171 2041 1255 1193 9.2 8.7 1337 97107 1.30 0.00 -19.52 0.006 20486 0.202 0.000 2824 2041 1759 1735 1783 0 0 0 0 0 0 13.88 12.55 14.15

97107 end subsurface finish: CONTROL_FINISHED_OK

state 97107 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	209	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2825	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	1740	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	86400	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1850	ALTIM_PING_FIT	0

GPS1	180220,043532,7530.4951,-14414.4961,0,4255.0,0,23.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.160,0.233
_CALLS	0	TGT_NAME	9_51
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	-20000.000
_SM_DEPTHo	11.49	MHEAD_RNG_PITCHd_Wd	260.1,2260,-21.9,-9.259,-23.87,1284
_SM_ANGLEo	-7.7	D_GRID	500
GPS2	180220,043532,7530.4951,-14414.4961,0,4255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200219083532.887959,06,9502,39,0102,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.2,0.49,-100,2.51,-01,0.20,72,925,0025*38	SC_FREEKB	3754368
FREEZE	9.24,-1.519,-1.525,2,113,0	_24V_AH	12.55,108.879
FINISH1	9.2,1.022377,262	_10V_AH	11.45,0.000
FINISH2	8.6	FG_AHR_24Vo	0.000
RAFOS_CLK	331	FG_AHR_10Vo	0.000
MODEM	6,1582029333,75.33060,-142.67570,33.231,48322.7	MEM	334876
RAFOS_FIX	7531.029297,-14415.603516,190220,080832,3,255,0.01	DATA_FILE_SIZE	46636,1340
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	226290,0
TT8_MAMPS	0.038948,0.28462	CFSIZE	1047117824,1015136256
HUMID	52.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.84871	SOUNDSPEED	1454.4
TCM_TEMP	13.30	GPS	190220,083532,7531.029,-14415.604,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	119

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	242	15.29	nil	0	0	0.00
Roll_motor	60	126	96.34	nil	0	0	0.00
VBD_pump_during_apogee	609	1803	13798.01	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10754	9	1258.93
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	156.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93249	2	2466.40
TT8_Active	844	9	90.12
TT8_Sampling	2838	27	887.36
TT8_CF8	259	37	112.44
TT8_Kalman	0	0	0.00
Analog_circuits	1937	10	241.83
GPS_charging	0	0	0.00
Compass	1958	6	151.17
RAFOS	13206	33	4989.89
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R